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4 Repair
4.7.1 Removing motors
Continued
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Position of robot
Use this procedure to place the robot in the position recommended in order to
facilitate replacement of motors.
Continues on next page
290
CAUTION
All lifting equipment must be sized accordingly!
Action
Decide which calibration routine to use for
calibrating the robot.
•
Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
•
Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Axis-1, axis-4, axis-5 and axis-6 motor
•
Move the robot to a position where the
wrist is pointing to the floor, as shown in
the figure. This will make it possible to
remove the motors without draining the
oil from the gearbox.
© Copyright 2009-2021 ABB. All rights reserved.
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
Reference calibration
routine on page
349.
Read more about reference calibration for
Pendulum Calibration in Operating manu-
al - Calibration Pendulum.
Information
xx0800000388
Product manual - IRB 4600
3HAC033453-001 Revision: Y
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